separate ompl_planning.yaml config, refactor config

myrobot_ws/src/myrobot_moveit/config/move_group.yaml

@@ -0,0 +1,79 @@
+/**:
+  ros__parameters:
+#-------- Moveit controllers
+    moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+    moveit_simple_controller_manager:
+      controller_names:
+        - joint_trajectory_controller       # add or remove controllers as necessary
+
+      joint_trajectory_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - joint1
+          - joint2
+          - joint3
+          - joint4
+          - joint5
+          - joint6
+
+#-------- kinematics
+    robot_description_kinematics:
+      myrobot_manipulator:
+        kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+        kinematics_solver_search_resolution: 0.005
+        kinematics_solver_timeout: 0.005
+        kinematics_solver_attempts: 3
+
+#-------- joint limits
+    robot_description_planning:
+      default_velocity_scaling_factor: 0.1
+      default_acceleration_scaling_factor: 0.1
+      # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+      # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+      joint_limits:
+        joint1:
+          has_velocity_limits: true
+          max_velocity: 1.7453292519943295
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+        joint2:
+          has_velocity_limits: true
+          max_velocity: 1.5707963267948966
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+        joint3:
+          has_velocity_limits: true
+          max_velocity: 1.5707963267948966
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+        joint4:
+          has_velocity_limits: true
+          max_velocity: 2.9670597283903604
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+        joint5:
+          has_velocity_limits: true
+          max_velocity: 2.0943951023931953
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+        joint6:
+          has_velocity_limits: true
+          max_velocity: 3.3161255787892263
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+
+#-------- other
+    moveit_manage_controllers: false
+    trajectory_execution:
+      allowed_execution_duration_scaling: 1.2
+      allowed_goal_duration_margin: 0.5
+      allowed_start_tolerance: 0.01
+    capabilities: move_group/MoveGroupExecuteTrajectoryAction
+    publish_planning_scene: True
+    publish_geometry_updates: True
+    publish_state_updates: True
+    publish_transforms_updates: True
+
+

myrobot_ws/src/myrobot_moveit/config/all.yaml → myrobot_ws/src/myrobot_moveit/config/ompl_planning.yaml

@@ -1,84 +1,5 @@
 /**:
   ros__parameters:
-    # from launch file
-    capabilities: move_group/MoveGroupExecuteTrajectoryAction
-    publish_planning_scene: True
-    publish_geometry_updates: True
-    publish_state_updates: True
-    publish_transforms_updates: True
-
-    # kinematics
-    robot_description_kinematics:
-      myrobot_manipulator:
-        kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-        kinematics_solver_search_resolution: 0.005
-        kinematics_solver_timeout: 0.005
-        kinematics_solver_attempts: 3
-
-    # joint limits
-    robot_description_planning:
-      default_velocity_scaling_factor: 0.1
-      default_acceleration_scaling_factor: 0.1
-
-      # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-      # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-      joint_limits:
-        joint1:
-          has_velocity_limits: true
-          max_velocity: 1.7453292519943295
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-        joint2:
-          has_velocity_limits: true
-          max_velocity: 1.5707963267948966
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-        joint3:
-          has_velocity_limits: true
-          max_velocity: 1.5707963267948966
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-        joint4:
-          has_velocity_limits: true
-          max_velocity: 2.9670597283903604
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-        joint5:
-          has_velocity_limits: true
-          max_velocity: 2.0943951023931953
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-        joint6:
-          has_velocity_limits: true
-          max_velocity: 3.3161255787892263
-          has_acceleration_limits: true
-          max_acceleration: 5.0
-
-    # Moveit Controllers
-    moveit_manage_controllers: false
-    trajectory_execution:
-      allowed_execution_duration_scaling: 1.2
-      allowed_goal_duration_margin: 0.5
-      allowed_start_tolerance: 0.01
-
-    moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
-    moveit_simple_controller_manager:
-      controller_names:
-        - joint_trajectory_controller
-
-      joint_trajectory_controller:
-        type: FollowJointTrajectory
-        action_ns: follow_joint_trajectory
-        default: true
-        joints:
-          - joint1
-          - joint2
-          - joint3
-          - joint4
-          - joint5
-          - joint6
-
-    # OMPL planning
     move_group:
       planning_plugins: 
         - ompl_interface/OMPLPlanner

myrobot_ws/src/myrobot_moveit/launch/moveit.launch.py

@@ -1,6 +1,3 @@
-import os
-import yaml
-
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
@@ -43,8 +40,6 @@ def launch_setup(context, *args, **kwargs):
             " ",
         ]
     )
-    robot_description = {"robot_description": robot_description_content.perform(context)}
-
     # SRDF
     robot_description_semantic_content = Command(
         [
@@ -53,14 +48,13 @@ def launch_setup(context, *args, **kwargs):
             PathJoinSubstitution(
                 [FindPackageShare(moveit_package), "srdf", semantic_description_file]
             ),
-
         ]
     )
-    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content.perform(context)}
 
-    other_configs = PathJoinSubstitution(
-        [FindPackageShare(moveit_package), "config", "all.yaml"]
-    )
+    robot_description = {"robot_description": robot_description_content.perform(context)}
+    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content.perform(context)}
+    planning_config = PathJoinSubstitution([FindPackageShare(moveit_package), "config", "ompl_planning.yaml"])
+    move_group_config = PathJoinSubstitution([FindPackageShare(moveit_package), "config", "move_group.yaml"])
 
     # -------------------------------------------------------#
     #                 Move Group Node                        #
@@ -73,7 +67,8 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             robot_description,
             robot_description_semantic,
-            other_configs,
+            planning_config,
+            move_group_config,
             {"use_sim_time": use_sim_time},
         ],
     )
@@ -90,7 +85,9 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             robot_description,
             robot_description_semantic,
-            other_configs
+            planning_config,
+            move_group_config,
+            {"use_sim_time": use_sim_time},
         ],
     )